JP2015025671A - State calculation device, mobile body, state calculation method and state calculation program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To compactly achieve a state calculation device capable of highly accurately calculating a mobile state.SOLUTION: A state calculation device 10 includes: an antenna device 100; correlation processing parts 111A to 111D; ADR calculation parts 112A to 112D; and an arithmetic part 12. The antenna device 100 includes antennas 100A, 100B, 100C and 100D. The correlation processing parts 111A to 111D and the ADR calculation parts 112A to 112D calculate the carrier phase measurement values of the antennas 100A, 100B, 100C and 100D, and output the carrier phase measurement values to the arithmetic part 12. The arithmetic part 12 calculates a plurality of base line vectors from the plurality of carrier phase measurement values. The arithmetic part 12 calculates an attitude angle by using the plurality of base line vectors. In this case, the arithmetic part 12 calculates the respective components (pitch angle, roll angle, yaw angle) of the attitude angle for each combination of the base line vectors. The arithmetic part 12 calculates the central values of the respective components from the plurality of calculation results, and determines the attitude angle from those central values.

Description

  The present invention relates to a state calculation device that calculates a movement state such as a posture angle, a speed, and a position in a moving body such as a ship.

  Conventionally, various devices for calculating a navigation state (movement state) of a moving body have been devised. For example, the attitude calculation device described in Patent Document 1 is attached to a ship. The attitude calculation device calculates the attitude angle of the ship using position information of a plurality of antennas arranged at different positions on the ship.

  In the attitude calculation device described in Patent Document 1, a plurality of antennas are arranged so that the magnitude and direction of the base line vector connecting the antennas are different. The posture calculation apparatus described in Patent Literature 1 selects two antennas having the longest baseline length among a plurality of antennas receiving positioning signals, that is, a plurality of antennas capable of performing positioning. The posture calculation apparatus described in Patent Literature 1 calculates a posture angle from the positioning positions of two selected antennas.

JP 2008-14721 A

  As described above, the conventional posture calculation device calculates the posture angle using the two antennas having the longest base line length as much as possible, so that the arrangement scale of the posture calculation device with respect to the moving body becomes large. This is to improve the calculation accuracy of the posture angle, and it is generally known that the calculation accuracy of the posture angle decreases as the baseline length decreases.

  However, there are cases where the arrangement scale of the posture calculation device with respect to the moving body is limited, and in this case, the accuracy of calculating the posture angle must be sacrificed.

  Accordingly, an object of the present invention is to provide a small state calculation device capable of calculating a moving state including a posture angle with high accuracy. It is another object of the present invention to provide a state calculation method and a state calculation program capable of realizing a state calculation device having such characteristics.

  The state calculation device according to the present invention includes a plurality of antennas, a correlation processing unit, a carrier phase measurement value calculation unit, a baseline vector calculation unit, and an attitude angle calculation unit. The plurality of antennas are three or more, and are arranged at different positions on the moving body, and each receives a positioning signal. The correlation processing unit calculates a carrier phase difference for each antenna based on the correlation processing between the positioning signal and the replica signal of the positioning signal. The carrier phase measurement value calculation unit calculates a carrier phase measurement value that is an integrated value of the carrier phase difference. The baseline vector calculation unit calculates a plurality of baseline vectors based on the carrier phase measurement value. The attitude angle calculation unit calculates a yaw angle for each baseline vector, and determines a representative yaw angle based on the plurality of calculated yaw angles.

  In this configuration, since the representative yaw angle is calculated from a plurality of baseline vectors, the representative yaw angle can be calculated with high accuracy. Therefore, the posture angle including the representative yaw angle can be calculated with high accuracy.

  In addition, the posture angle calculation unit of the state calculation device according to the present invention calculates the yaw angle from the representative pitch angle and the representative roll angle for each baseline vector.

  In this configuration, a specific yaw angle calculation method using a baseline vector is shown.

  In addition, the posture angle calculation unit of the state calculation device of the present invention calculates a roll angle from the representative pitch angle for each baseline vector, and calculates a representative roll angle from the calculated plurality of roll angles.

  This configuration shows a specific method for calculating the representative roll angle used for calculating the yaw angle.

  In addition, the posture angle calculation unit of the state calculation device according to the present invention calculates a pitch angle for each set by setting two of the plurality of baseline vectors as a set, and calculates a representative pitch angle from the calculated plurality of pitch angles. To do.

  This configuration shows a specific method for calculating the representative pitch angle used for calculating the yaw angle and roll angle. Further, by combining these specific calculation methods, the attitude angle can be calculated with high accuracy based on the carrier phase measurement value of the positioning signal.

  In the state calculation apparatus of the present invention, three or more antennas are arranged so that at least one of the plurality of baseline vectors is parallel to the heading direction of the moving body.

  With this configuration, the yaw angle can be calculated simply and at high speed.

  In addition, the state calculation device of the present invention further includes a position calculation unit that calculates the coordinates of the specific position of the moving body using the result of correlation processing for a plurality of positioning signals together with the posture angle. At this time, the position calculation unit performs correction based on the posture angle when calculating the coordinates of the specific position.

  In addition, the state calculation apparatus of the present invention further includes a speed calculation unit that calculates the speed of the specific position of the moving body using the results of the correlation processing for the plurality of positioning signals. At this time, the speed calculation unit performs correction based on the posture angle when calculating the speed of the specific position.

  In these configurations, since the attitude angle calculated with high accuracy as described above is used, the position coordinates and the velocity can be calculated with high accuracy.

  According to the present invention, a state calculation device capable of calculating a navigation state with high accuracy can be realized in a small size.

It is a block diagram which shows the structure of the state calculation apparatus which concerns on the 1st Embodiment of this invention. It is a figure for demonstrating the calculation principle of the navigation state which concerns on the 1st Embodiment of this invention. It is a figure which shows the arrangement | positioning of each antenna of a antenna apparatus, and the relationship of a baseline vector. It is a flowchart which shows the general | schematic flow of the attitude | position angle calculation performed with the state calculation apparatus of this embodiment. It is a flowchart which shows the specific flow of the attitude | position angle calculation performed with a calculating part. It is a flowchart which shows the calculation flow of pitch angle (theta). It is a flowchart which shows the calculation flow of roll angle (phi). It is a flowchart which shows the calculation flow of yaw angle (psi). It is a block diagram which shows the structure of the state calculation apparatus which concerns on the 2nd Embodiment of this invention. It is a flowchart which shows the speed calculation flow which concerns on the 2nd Embodiment of this invention. It is a flowchart which shows another speed calculation flow which concerns on the 2nd Embodiment of this invention. It is a figure showing the concept of the shift | offset | difference of the calculation position of a geometric average value, and a desired position, and the correction | amendment. It is a flowchart which shows the position calculation flow which concerns on the 2nd Embodiment of this invention. It is a flowchart which shows another position calculation flow which concerns on the 2nd Embodiment of this invention. It is a schematic block diagram of the ship equipped with the state calculation apparatus which concerns on this embodiment. It is a figure which shows the derived arrangement pattern of a some antenna. It is a figure which shows the derived arrangement pattern of a some antenna. It is a figure which shows the derived arrangement pattern of a some antenna.

  A state calculation apparatus according to a first embodiment of the present invention will be described with reference to the drawings. In the present embodiment, an apparatus for calculating the navigation state of the ship as a moving body will be described. However, the moving state of other mobile bodies in Shanghai, land mobile bodies such as automobiles, and air mobile bodies such as airplanes is calculated. Also in this case, the following configuration can be applied.

  FIG. 1 is a block diagram showing a configuration of a state calculation apparatus according to the first embodiment of the present invention. FIG. 2 is a diagram for explaining the calculation principle of the navigation state according to the first embodiment of the present invention. FIG. 2 shows the installation mode of the antenna device 100 with respect to the ship 900 and the relationship between the BODY coordinate system (hull coordinate system) and the NED coordinate system (earth coordinate system). FIG. 3 is a diagram illustrating the relationship between the arrangement of the antennas and the base line vector of the antenna device.

  As illustrated in FIG. 1, the state calculation device 10 includes an antenna device 100, correlation processing units 111A, 111B, 111C, and 111D, ADR calculation units 112A, 112B, 112C, and 112D, and a calculation unit 12.

  As shown in FIG. 2, the antenna device 100 is installed in a place where the line of sight on the ship 900 is good, that is, in a place where the reception environment for the positioning signal from the positioning satellite is good. For example, as shown in FIG. 2, the antenna device 100 is installed at the tip of a pole installed on the deck of the ship 900.

  The antenna device 100 includes antennas 100A, 100B, 100C, and 100D. The antennas 100A, 100B, 100C, and 100D are arranged on the same plane in the housing of the antenna device 100 as shown in FIG. At this time, the antennas 100A and 100B are formed such that the center position A of the antenna 100A, the center position B of the antenna 100B, the center position C of the antenna 100C, and the center position D of the antenna 100D form four corners. , 100C, 100D are arranged. In the following, the center position of a square formed by the arrangement positions of the antennas 100A, 100B, 100C, and 100D is referred to as an arrangement center position O. The antenna device 100 is arranged on the ship 900 so that the plane on which the antennas 100A, 100B, 100C, and 100D are arranged and the horizontal plane of the ship 900 are parallel to each other.

  Antennas 100A, 100B, 100C, and 100D receive positioning signals from a plurality of positioning satellites and output the signals to correlation processing units 111A, 111B, 111C, and 111D, respectively. Here, for example, the positioning satellite is a GPS (Global Positioning System) satellite, and the positioning signal is a GPS signal. In addition, not only GPS but a positioning satellite and a positioning signal of GNSS (Global Navigation Satellite Systems) may be used.

Correlation processing section 111A outputs the carrier phase difference for each positioning signal from the carrier correlation processing result between each positioning signal from antenna 100A and the replica signal. The ADR calculation unit 112 </ b> _A integrates the carrier phase difference, calculates the carrier phase measurement value ADR _A, and outputs it to the calculation unit 12. The correlation processing unit 111A calculates the pseudorange PR _A from the code correlation processing result between each positioning signal from the antenna 100A and the replica signal, and outputs the pseudo distance PR _A to the calculation unit 12.

Correlation processing section 111B outputs a carrier phase difference for each positioning signal from the result of carrier correlation processing between each positioning signal from antenna 100B and the replica signal. The ADR calculation unit 112B calculates the carrier phase measurement value ADR _B by accumulating the carrier phase difference and outputs it to the calculation unit 12. Correlation processing section 111B calculates pseudorange PR _B from the result of code correlation processing between each positioning signal from antenna 100B and the replica signal, and outputs the result to calculation section 12.

The correlation processing unit 111C outputs a carrier phase difference for each positioning signal from the carrier correlation processing result between each positioning signal from the antenna 100C and the replica signal. ADR calculation unit 112C is by integrating the carrier phase difference, calculates a carrier phase measurements ADR _C, and outputs it to the arithmetic unit 12. Incidentally, the correlation processing unit 111C calculates a pseudo-range PR _C from the code correlation result between the positioning signal and the replica signal from the antenna 100C, and outputs it to the arithmetic unit 12.

Correlation processing section 111D outputs a carrier phase difference for each positioning signal from the result of carrier correlation processing between each positioning signal from antenna 100D and the replica signal. The ADR calculation unit 112D calculates the carrier phase measurement value ADR _D by integrating the carrier phase difference, and outputs it to the calculation unit 12. Incidentally, the correlation processing unit 111D calculates a pseudo-range PR _D from the code correlation result between the positioning signal and the replica signal from the antenna 100D, and outputs it to the arithmetic unit 12.

Since the calculation unit 12 of the present embodiment calculates the attitude angle and omits the calculation of the position coordinates and the velocity as shown below, the correlation processing units 111A, 111B, 111C, 111D, the ADR calculation unit 112A, 112B, 112C, and 112D may calculate at least the carrier phase measurement values ADR _A , ADR _B , ADR _C , and ADR _D.

  The calculation unit 12 includes a baseline vector calculation unit 120 and an attitude angle calculation unit 121.

Baseline vector calculation section 120 calculates a plurality of baseline vectors using carrier phase measurement values ADR _A , ADR _B , ADR _C , and ADR _D. The base line vector is determined by combining two antennas among a plurality of installed antennas. Specifically, in the present embodiment, six baseline vectors of baseline vectors AB, BC, CD, DA, BD, CA are calculated. The calculation method of the baseline vector is a known method. As one of the representative calculation methods, a double phase difference is calculated for two antennas and two positioning satellites, an integer value bias is determined, and the adjustment is performed. There is a method for determining a baseline vector using a numerical bias.

  Base line vector AB has a center position A of antenna 100A as a starting point and a center position B of antenna 100B as an end point. Base line vector BC has a center position B of antenna 100B as a starting point and a center position C of antenna 100C as an end point. Base line vector CD has a center position C of antenna 100C as a starting point and a center position D of antenna 100D as an end point. Base line vector DA has a center position D of antenna 100D as a starting point and a center position A of antenna 100A as an end point. Base line vector BD has a center position B of antenna 100B as a starting point and a center position D of antenna 100D as an end point. Base line vector CA has a center position C of antenna 100C as a starting point and a center position A of antenna 100A as an end point.

The posture angle calculation unit 121 selects a plurality of baseline vectors and calculates a posture angle from the plurality of baseline vectors. A detailed attitude angle calculation method executed by the calculation unit 12 will be described later. The posture angle is composed of components of a pitch angle θ (θ _h ), a roll angle φ (φ _h ), and a yaw angle ψ (ψ _h ). The pitch angle θ (θ _h ), the roll angle φ (φ _h ), and the yaw angle ψ (ψ _h ) are expressed in the BODY coordinate system. As shown in FIG. 2, the BODY coordinate system includes a b1 axis parallel to the bow direction of the ship 900, a b2 axis parallel to the starboard direction of the ship 900, and a b3 axis perpendicular to the b1 axis and the b2 axis. That is, the b3 axis is an axis parallel to the vertical direction when the ship 900 is not swinging. The center Pa of this BODY coordinate system is set at the center of gravity of the ship 900.

The pitch angle θ (θ _h ) is a plane angle determined by the b1 axis and the b3 axis, and represents the movement of the bow and tail in the vertical direction. The roll angle φ (φ _h ) is a plane angle determined by the b2 axis and the b3 axis, and represents the movement of the starboard in the vertical direction. The yaw angle ψ (ψ _h ) is a plane angle determined by the b1 axis and the b2 axis, and represents the movement of the heading on the horizontal plane.

The posture angle calculation unit 121 roughly calculates a plurality of pitch angles θ, roll angles φ, and yaw angles ψ, and represents representative pitch angles θ _h and representative roll angles φ _h that are representative values. , And the representative yaw angle ψ _h are output as posture angles [θ _h , φ _h , ψ _h ].

  The series of processes may be executed for each functional block as shown in FIG. 1, but may be programmed and executed by an information processing apparatus such as a computer.

  FIG. 4 is a flowchart showing a schematic flow of posture angle calculation executed by the state calculation apparatus of the present embodiment.

As described above, the positioning signals are received by the plurality of antennas 100A, 100B, 100C, and 100D, and the carrier phase measurement values ADR _A , ADR _B , ADR _C , and ADR _D are calculated for each of the antennas 100A, 100B, 100C, and 100D. (S101). The computing unit 12 calculates a plurality of baseline vectors AB, BC, CD, DA, BD, CA using the carrier phase measurement values ADR _A , ADR _B , ADR _C , ADR _D (S102).

The computing unit 12 calculates a plurality of pitch angles θ, a roll angle φ, and a yaw angle ψ using a plurality of baseline vectors. The computing unit 12 determines a representative value of each component from the plurality of pitch angles θ, roll angle φ, and yaw angle ψ, and outputs it as a posture angle [θ _h , φ _h , ψ _h ] (S103).

Next, a specific method for calculating the posture angles [θ _h , φ _h , ψ _h ] will be described.

(principle)
The rotation from the BODY coordinate system to the NED coordinate system shown in FIG. 2 is set in the order of rotation as roll, pitch, and yaw, and the respective angles are [φ, θ, ψ]. That is, the roll angle φ, the pitch angle θ, and the yaw angle ψ are set.

Here, it is assumed that the antenna arrangement is horizontal to the ship 900 as described above, that is, on the plane orthogonal to the b3 axis shown in FIG. At this time, when a generalized antenna arrangement vector ^xb is expressed as a distance r in the BODY coordinate system and an angle Δ with respect to the bow direction, the following expression is obtained.

また、ＮＥＤ座標系での基線ベクトルｘ^ｎを次式とする。

In addition, the baseline vector ^xn in the NED coordinate system is ^expressed by the following equation.

ＢＯＤＹ座標系からＮＥＤ座標系への変換式は、回転行列をＣ_ｂ ^ｎとすると、次式である。

The conversion formula from the BODY coordinate system to the NED coordinate system is as follows when the rotation matrix is C _b ⁿ .

式３を各成分で表し、右辺を演算すると、次式となる。

When Expression 3 is expressed by each component and the right side is calculated, the following expression is obtained.

２つのアンテナ配置をＢＯＤＹ座標系で表すと、（式１）より、次式で表すことができる。

When the two antenna arrangements are expressed in the BODY coordinate system, they can be expressed by the following expression from (Expression 1).

また、２つの基線ベクトルをＮＥＤ座標系で表すと、（式２）より、次式で表すことができる。

Further, when the two baseline vectors are expressed in the NED coordinate system, they can be expressed by the following expression from (Expression 2).

（式４）、（式５）、（式６）のｘ_Ｄに関する部分を用いて、ロール角φに対するｓｉｎφについて解くと、次式が得られる。

(Equation 4), (Equation 5), using a portion related to _{x D} (Formula 6), and solving for sinφ for roll angle phi, the following equation is obtained.

さらに、（式７）をピッチ角θについて解くと、次式が得られる。

Further, when (Expression 7) is solved with respect to the pitch angle θ, the following expression is obtained.

（式８）から分かるように、２つの基線ベクトル、および、当該２つの基線ベクトルが船首方向と成す角が分かれば、ピッチ角θを算出することができる。

As can be seen from (Equation 8), if the two base line vectors and the angle formed by the two base line vectors with the bow direction are known, the pitch angle θ can be calculated.

  As can be seen from (Equation 7), if the pitch angle θ and one baseline vector are known, the roll angle φ can be calculated.

Furthermore, the following equation can be obtained by using the portions related to x _N and x _E in (Equation 4).

（式９）から分かるように、ピッチ角θとロール角φと１つの基線ベクトルが分かれば、ヨー角ψを算出することができる。

As can be seen from (Equation 9), if the pitch angle θ, the roll angle φ, and one baseline vector are known, the yaw angle ψ can be calculated.

Using the principle as described above, the calculation unit 12 according to the present embodiment specifically calculates the posture angle [θ _h , φ _h , ψ _h ] according to the following flow.

  FIG. 5 is a flowchart showing a specific flow of posture angle calculation executed by the calculation unit.

  The calculation unit 12 calculates the pitch angle θ using the two baseline vectors using the calculation method shown in (Expression 8) described above. More specifically, the pitch angle θ is calculated by substituting the two base line vectors that have been calculated and the angle formed by the two base line vectors with the bow direction into (Equation 8). At this time, the calculation unit 12 calculates a pitch angle θ for each set of baseline vectors by changing the combination of two selected baseline vectors (S131).

The computing unit 12 calculates a representative pitch angle θ _h for a plurality of pitch angles θ (S132). Specifically, for example, arithmetic unit 12 calculates the average value of a plurality of pitch angle theta, the representative pitch angle theta _h.

The calculation unit 12 calculates the roll angle φ using the representative pitch angle θ _h and one baseline vector, using the calculation method shown in (Expression 7) described above. More specifically, the roll angle φ is calculated by substituting the representative pitch angle θ _h calculated in the above-described processing, one calculated baseline vector, and the angle formed by the baseline vector into (Equation 7). To do. At this time, the arithmetic unit 12, by varying the baseline vector combining the representative pitch angle theta _h, to calculate the roll angle φ for each combination (S133).

The computing unit 12 calculates a representative roll angle φ _h for a plurality of roll angles φ (S134). Specifically, for example, arithmetic unit 12 calculates the average value of a plurality of roll angle phi, the representative roll angle phi _h.

The computing unit 12 calculates the yaw angle ψ using the representative pitch angle θ _h , the representative roll angle φ _h, and one baseline vector using the calculation method shown in (Equation 9) described above. More specifically, the representative pitch angle θ _h and the representative roll angle φ _h calculated in the above processing, one calculated baseline vector, and the angle formed by the baseline vector are substituted into (Equation 9). Thus, the yaw angle ψ is calculated. At this time, the calculation unit 12 calculates the yaw angle ψ for each combination by changing the baseline vector combined with the representative pitch angle θ _h and the representative roll angle φ _h (S135).

The computing unit 12 calculates a representative yaw angle ψ _h for a plurality of yaw angles ψ (S136). Specifically, for example, the calculation unit 12 calculates an average value of a plurality of yaw angles ψ and sets it as the representative yaw angle ψ _h .

The computing unit 12 determines the representative pitch angle θ _h , the representative roll angle φ _h , and the representative yaw angle ψ _h as the posture angle [θ _h , φ _h , ψ _h ] (S137).

  By using such a method, it is possible to calculate a plurality of posture angle components (pitch angle, roll angle, yaw angle) according to the number of calculated baseline vectors. The observation error included in each posture angle component is suppressed by using a representative value such as the average value of each posture angle component thus calculated. Therefore, the attitude angle can be calculated with high accuracy.

  In addition, when the same degree of accuracy is required, the antenna interval can be made narrower than the conventional configuration. Thereby, the antenna arrangement area can be reduced, and further, the antenna device can be miniaturized.

  In the above description, the representative value is simply described as an average value, but may be an average value without weighting or an average value with weighting. When weighting is performed, the weight may be determined based on the relationship between the direction of each baseline vector and the direction of each posture angle used to calculate the posture angle. Further, weighting may be performed based on positioning accuracy at each antenna position. For example, the base line vector using an antenna with high positioning accuracy may be set so that the weight becomes heavier. In the above description, the average value is calculated as the representative value. However, other statistical values such as the median value may be used.

  Further, by arranging a plurality of antennas as shown in FIG. 3, the attitude angle can be calculated with high accuracy as a whole. Specifically, as shown in FIG. 3, in the configuration of the present embodiment, the plurality of antennas 100A, 100B, 100C, and 100D are arranged on a plane orthogonal to the b3 axis of the BODY coordinate, and the arrangement center position It is arranged at the same distance from O. The antennas 100A, 100B, 100C, and 100D are located at rotationally symmetric positions that form 90 ° with respect to the arrangement center position O as a reference point. As a result, the antennas 100A, 100B, 100C, and 100D have a uniform arrangement pattern in the b1 direction and the b2 direction. That is, the antennas 100A, 100B, 100C, and 100D are arranged to be isotropic.

  With such an arrangement pattern, the change in the baseline vector that occurs when the ship 900 is tilted becomes comparable to the pitch angle θ and the roll angle φ. Therefore, the pitch angle θ and the roll angle φ can be calculated with substantially the same accuracy. Accordingly, the pitch angle θ and the roll angle φ can be calculated with isotropic accuracy, and the yaw angle calculated using these can be calculated with the same degree of accuracy regardless of the direction in which the hull is shaken. As a result, it is possible to calculate the attitude angle with high accuracy as a whole without variations in direction.

  Further, by using such an antenna arrangement, the pitch angle θ and the roll angle φ are calculated with isotropic accuracy regardless of the angle between each antenna of the antenna device and the bow direction. be able to. Thereby, since it is not necessary to care about the installation direction to the ship of an antenna apparatus, installation to the ship of an antenna apparatus becomes easy.

  Here, the isotropic arrangement is used, but it may be substantially isotropic. That is, the arrangement pattern of the plurality of antennas may be slightly shifted. Even in this case, it is possible to calculate the posture angle with substantially the same accuracy as in the case of being isotropic.

  In addition, the antenna device 100 has a baseline vector that connects the center position A of the antenna 100A and the center position B of the antenna 100B, and a baseline vector that connects the center position C of the antenna 100C and the center position D of the antenna 100D. It is good to arrange | position to the ship 900 so that it may become parallel to the bow direction (b1 axis direction (heading direction) of BODY coordinate system). With such an arrangement, the posture angle calculation process is facilitated as will be described later.

  Also, by using this arrangement, the length of the baseline vector parallel to the bow direction is shortened. Therefore, the baseline vector parallel to the bow direction can be calculated at high speed and with high accuracy. Thereby, the posture angle can be calculated at higher speed depending on the situation.

  Next, the calculation of the pitch angle θ, the roll angle φ, and the yaw angle ψ parallel to the bow direction with the antenna arrangement described above is more specifically according to the arrangement of a plurality of antennas, that is, the setting method of the baseline vector. The following methods may be used.

(Calculation method of pitch angle θ)
FIG. 6 is a flowchart showing a calculation flow of the pitch angle θ.

  First, it is detected whether one or more baseline vectors are determined. If no baseline vector has been determined (S311: NO), it is determined that the pitch angle θ cannot be calculated (S317).

  When one or more baseline vectors are determined (S311: YES), the number N of determined baseline vectors is acquired.

When there is one baseline vector (S312: N = 1), it is detected whether the baseline vector is parallel to the bow direction, that is, the b1 axis direction. If the baseline vector is not parallel to the bow direction (S313: NO), it is determined that the pitch angle θ cannot be calculated (S317). On the other hand, if the baseline vector is parallel to the bow direction (S313: YES), that is, in the case of the antenna arrangement of FIG. 3, if the established baseline vector is one of the baseline vectors AB and CD, this baseline vector. Is used to calculate the pitch angle θ (S314). In this case, it is possible to calculate the pitch angle θ from the above (Equation 8) with Δ ₁ or Δ ₂ being 0 ° and 180 °.

  When there are two baseline vectors (S312: N = 2), it is detected whether the two baseline vectors are orthogonal to the bow direction. If the two baseline vectors are orthogonal to the bow direction (S315: YES), that is, in the case of the antenna arrangement of FIG. 3, if the determined baseline vector is one of the baseline vectors BC and DA, the pitch It is determined that the angle θ cannot be calculated (S317). On the other hand, if the two baseline vectors are not orthogonal to the bow direction (S315: NO), the pitch angle θ is calculated using the above-described (Equation 8) by combining the two baseline vectors (S316). ).

  When there are three or more baseline vectors (S312: N ≧ 3), two baseline vectors are selected from a plurality of established baseline vectors, and the above-described (Equation 8) is used from the two baseline vectors. The pitch angle θ is calculated (S316).

(Calculation method of roll angle φ)
FIG. 7 is a flowchart showing a calculation flow of the roll angle φ.

First, it is determined whether the representative pitch angle theta _h are available, unless a representative pitch angle theta _h is available (S321: NO), to detect whether there is a baseline vector perpendicular to the bow direction. If there is no baseline vector orthogonal to the bow direction (S322: NO), it is determined that the roll angle φ cannot be calculated (S328). If there is a baseline vector orthogonal to the bow direction (S322: YES), the roll angle φ is calculated using the baseline vector (S323). In this case, the roll angle φ is calculated using the b3 direction motion of the base line vector corresponding to the roll angle φ.

Representative pitch angle theta _h if one is available (S321: YES), obtains the number N of the baseline vector.

When there is one baseline vector (S324: N = 1), it is detected whether the baseline vector is parallel to the bow direction, that is, the b1 axis direction. If the base line vector is parallel to the bow direction (S326: YES), that is, in the case of the antenna arrangement of FIG. 3, if the determined base line vector is one of the base line vectors AB and CD, the roll angle φ is calculated. Is determined to be impossible (S328). If the baseline vector is not parallel to the bow direction (S326: NO), and the baseline vector and representative pitch angle theta _h in the set, to calculate the roll angle φ using the above (Formula 7) (S327) .

When there are two baseline vectors (S324: N = 2), it is detected whether the two baseline vectors are parallel to the bow direction. If the two baseline vectors are parallel to the bow direction (S325: YES), that is, in the case of the antenna arrangement of FIG. 3, if the determined baseline vectors are the baseline vectors BC and DA, the roll angle φ is calculated. Is determined to be impossible (S328). On the other hand, if the two baseline vector has not orthogonal to the bow direction (S325: NO), you select one of the two baseline vector, and a set with selected baseline vector and representative pitch angle theta _h Then, the roll angle φ is calculated using (Equation 7) described above (S327).

If baseline vector is 3 or more (S324: N ≧ 3), select one baseline vector from a plurality of baseline vector has been finalized, and the representative pitch angle theta _h with the baseline vector pair, above The roll angle φ is calculated using (Equation 7) (S327).

(Calculation method of yaw angle ψ)
FIG. 8 is a flowchart showing a calculation flow of the yaw angle ψ.

First, it is determined whether the representative pitch angle theta _h are available, unless a representative pitch angle theta _h is available (S331: NO), the calculation of the yaw angle ψ is determined impossible (S336).

Representative pitch angle theta _h if one is available (S321: YES), the representative roll angle phi _h determines whether available. If possible representative roll angle phi _h is used (S332: NO), to detect whether there is the baseline vector parallel to the fore direction. If there is no baseline vector parallel to the bow direction (S334: NO), it is determined that the yaw angle ψ cannot be calculated (S336). If there is a baseline vector parallel to the fore direction (S334: YES), using with the baseline vector and representative pitch angle theta _h, it calculates the yaw angle [psi (S335). In this case, the yaw angle ψ can be calculated by calculating the yaw angle ψ using the yaw angle ψ since the movement of the baseline vector in the b2 direction corresponds to the yaw angle ψ.

If the representative roll angle φ _h is usable (S332), the representative pitch angle θ _{h, the} representative roll angle φ _h, and the base line vector are combined to calculate the yaw angle ψ using the above-described (Equation 9). (S333).

  By adopting such a configuration and processing, depending on the antenna arrangement, the posture angle can be calculated with fewer baseline vectors.

  Next, a state calculation apparatus according to a second embodiment of the present invention will be described with reference to the drawings. FIG. 9 is a block diagram showing a configuration of a state calculation apparatus according to the second embodiment of the present invention. The state calculation device 10A of the present embodiment is generally different from the state calculation device 10 of the first embodiment in that not only the posture angle but also the position (positional coordinates) and speed are calculated.

  The calculation unit 12A includes an attitude angle calculation unit 121, a speed calculation unit 122, and a position calculation unit 123. The posture angle calculation unit 121 performs the same processing with the same configuration as the calculation unit 12 according to the first embodiment.

The speed calculation unit 122 calculates the speed at the position of the antenna 100A from the carrier phase measurement value ADR _A. The speed calculation unit 122 calculates the speed at the position of the antenna 100B from the carrier phase measurement value ADR _B. The speed calculation unit 122 calculates the speed at the position of the antenna 100C from the carrier phase measurement value ADR _C. The speed calculation unit 122 calculates the speed at the position of the antenna 100D from the carrier phase measurement value ADR _D.

  The speed calculation unit 122 calculates the speed of the ship 900 from the speeds of the antennas 100A, 100B, 100C, and 100D. The speed calculation unit 122 can calculate the speed of a specific position of the ship 900, such as the bow position of the ship 900, for example, without being limited to the position of each antenna 100A, 100B, 100C, 100D.

  Next, the speed calculation unit 122 calculates the speed using the flow. FIG. 10 is a flowchart showing a speed calculation flow according to the second embodiment of the present invention.

  First, the speed calculator 122 calculates the speed at each antenna position where the carrier phase measurement value is calculated (S401). The speed calculator 122 calculates the speed from the amount of time change of the carrier phase measurement value.

The velocity calculation unit 122 calculates the angular velocity at each antenna position from the amount of time change of the posture angle [θ _h , φ _h , ψ _h ] (S402).

  The speed calculation unit 122 calculates a speed calculation correction value (lever arm correction value) at each antenna position using the calculated angular speed (S403). The speed calculation correction value (lever arm correction value) is a correction value that suppresses the influence of the angular velocity due to the lever arm effect on the speed. The lever arm effect is that when an angular velocity is applied to the ship 900, the observed velocity includes the influence of the angular velocity at positions other than the center of gravity Pa.

  The speed calculation unit 122 corrects the speed of each antenna position using the speed calculation correction value (S404).

  The speed calculation unit 122 calculates the speed of the desired position using the corrected speed of each antenna position. At this time, the speed calculation unit 122 calculates the speed of the desired position (for example, the center of gravity Pa position or the bow position of the ship 900) based on the geometric average value based on the distance between each antenna position and the desired position (S405). ).

  Since the angular velocity is calculated using the attitude angle described above, the velocity calculation correction value can be calculated with high accuracy. Thereby, the lever arm effect can be suppressed with high accuracy, and the speed can be calculated with high accuracy.

  The speed calculation unit 122 may calculate the speed by the following method. FIG. 11 is a flowchart showing another speed calculation flow according to the second embodiment of the present invention.

  The velocity calculation unit 122 calculates the velocity at each antenna position where the carrier phase measurement value is calculated (S411). The speed calculator 122 calculates the speed from the amount of time change of the carrier phase measurement value.

  The speed calculation unit 122 calculates the speed of the desired position using the speed of each antenna position. At this time, the speed calculation unit 122 calculates the speed of the desired position based on the geometric average value based on the distance between each antenna position and the desired position (S412).

The speed calculation unit 122 calculates the angular speed at each antenna position from the amount of time change of the posture angle [θ _h , φ _h , ψ _h ] (S413). The speed calculation unit 122 calculates a speed calculation correction value (lever arm correction value) at a desired position using the calculated angular speed (S414). Note that these processes may be performed in parallel with the speed calculation process described above, or may be performed before the speed calculation process.

  The speed calculation unit 122 corrects the speed of the desired position using the speed calculation correction value for the desired position (S415).

  Even with such a method, since the angular velocity is calculated using the above-described attitude angle, the velocity calculation correction value can be calculated with high accuracy. Thereby, the lever arm effect can be suppressed with high accuracy, and the speed can be calculated with high accuracy.

  In the above description, the case where the antenna that calculates the carrier phase measurement value does not change is shown. However, depending on the reception state of the positioning signal, there may be an antenna that cannot calculate the carrier phase measurement value.

  In this case, the position where the geometric average value is calculated may be different from the desired position. FIG. 12 is a diagram showing a shift between the calculated position of the geometric mean value and the desired position and the concept of correction. FIG. 12 shows a case where the arrangement center position O of the plurality of antennas 100A, 100B, 100C, and 100D is set as a desired position.

  As shown in FIG. 12A, in the situation where the carrier phase measurement values at the positions of all antennas 100A, 100B, 100C, and 100D can be calculated, the values at the positions of all antennas 100A, 100B, 100C, and 100D are obtained. The geometric average value of the speeds is the speed of the arrangement center position O (desired position).

  As shown in FIG. 12B, in a state where the carrier phase measurement value at the position of the antenna 100D cannot be calculated, the carrier phase measurement value at the position of the antenna 100D cannot be used to calculate the velocity at the desired position. . Therefore, the geometric average value is a value of the geometric average position O ′ of the antennas 100A, 100B, and 100C, and is a value at a position different from the arrangement center position O.

  In this case, since the positional relationship between the antennas 100A, 100B, 100C, and 100D is known, the geometric average position (arrangement center position O) of all the antennas 100A, 100B, 100C, and 100D, and at least two antennas respectively. A position error from the geometric average position of the combination is stored in advance. Then, a correction value for correcting this position error is set. At this time, a correction value is set in consideration of the change in the speed calculation correction value (lever arm correction value).

  When calculating the speed of the arrangement center position O, which is a desired position, the antenna for which the carrier phase measurement value is calculated may be detected, and the geometric average value of the speed may be corrected according to the combination of antennas.

  Here, an example in which the arrangement center position O of all the antennas 100A, 100B, 100C, and 100D is set as a reference desired position is shown, but the same concept is used even at other positions. If corrected, the speed of the desired position can be corrected accurately.

The position calculation unit 123 calculates the position coordinates of the antenna 100A from the pseudo distance PR _A or the carrier phase measurement value ADR _A. The position calculation unit 123 calculates the position coordinates of the antenna 100B from the pseudo distance PR _B or the carrier phase measurement value ADR _B. Position calculating unit 123 calculates the position coordinates of the antenna 100C from pseudorange PR _C or carrier-phase measurements ADR _C. The position calculation unit 123 calculates the position coordinates of the antenna 100D from the pseudo distance PR _D or the carrier phase measurement value ADR _D.

  The position calculation unit 123 calculates the position coordinates of the desired position from the position coordinates of the antennas 100A, 100B, 100C, and 100D. The desired position is, for example, the arrangement center position O, the bow position of the ship 900, or the like.

  Next, the position calculation unit 123 calculates the velocity using the flow. FIG. 13 is a flowchart showing a position calculation flow according to the second embodiment of the present invention.

  First, the position calculator 123 calculates the position coordinates of each antenna position for which the pseudorange or carrier phase measurement value is calculated (S501). The method for calculating the position coordinates is known, and a specific method is omitted. However, when using the pseudorange, the position coordinates can be calculated faster from the initial position coordinate calculation than when using the carrier phase measurement, and the carrier phase When using the measured value, the position coordinates can be calculated with higher accuracy than when using the pseudorange.

The position calculation unit 123 calculates a position calculation correction value for each antenna position using the posture angles [θ _h , φ _h , ψ _h ] calculated from a plurality of baseline vectors as described above (S502).

  The position calculation unit 123 corrects the position coordinates of each antenna position using the position calculation correction value (S503).

  The position calculation unit 123 calculates the position coordinates of the desired position using the corrected position coordinates of each antenna position. At this time, the position calculation unit 123 calculates the position coordinates of the desired position based on the geometric average value based on the distance between each antenna position and the desired position (S504).

  And by using the above-mentioned attitude angle, the position calculation correction value can be calculated with high accuracy. As a result, the position calculation error due to the swing can be suppressed with high accuracy, and the position coordinates of the desired position can be calculated with high accuracy.

  The position calculation unit 123 may calculate the speed by the following method. FIG. 14 is a flowchart showing another position calculation flow according to the second embodiment of the present invention.

  First, the position calculator 123 calculates the position coordinates of each antenna position for which the pseudorange or carrier phase measurement value is calculated (S511).

  The position calculation unit 123 calculates the position coordinates of the desired position based on the geometric average value based on the distance between each antenna position and the desired position (S512).

The position calculation unit 123 calculates a position calculation correction value for the desired position using the posture angles [θ _h , φ _h , ψ _h ] calculated from the plurality of baseline vectors as described above (S513).

  The position calculation unit 123 corrects the position coordinates of the desired position using the position calculation correction value for the desired position (S514).

  Even in such a method, since the posture angle is used, the position calculation correction value can be calculated with high accuracy. As a result, the position calculation error due to the swing can be suppressed with high accuracy, and the position coordinates of the desired position can be calculated with high accuracy.

  In the case of position calculation as well, the correction shown in FIG. 12, that is, the correction based on the combination of antennas capable of calculating the carrier phase measurement value, can be applied as in the above-described velocity calculation.

  The state calculation device, the state calculation method, and the state calculation program described above can be used by being mounted on a moving body such as the ship 900. FIG. 15 is a schematic configuration diagram of a ship equipped with the state calculation device according to the present embodiment. Here, the ship 900 will be described as an example of the moving body, but the configuration of the present embodiment is also applied to other water moving bodies, underwater moving bodies, aerial moving bodies such as airplanes, and land moving bodies such as automobiles. can do.

The ship 900 includes a state calculation device 10A, a control unit 901, power 902, and a rudder 903. The state calculation device 10A uses the above-described method to determine the position [P _N , P _E , P _D ], the velocity [V _N , V _E , V _D ], and the posture angle [φ _h , θ _h , ψ _h ]. Calculate and output.

The control unit 901 executes the navigation control process using the position [P _N , P _E , P _D ], the speed [V _N , V _E , V _D ], and the attitude angle [φ _h , θ _h , ψ _h ]. To do. For example, the control unit 901 performs automatic navigation control for estimating the most efficient navigation route from the current own ship position and the target position, or performs fixed point holding control for stopping at a fixed position from a change in the own ship position. Or

  The control unit 901 generates control signals for the power 902 and the rudder 903 based on the set control content. The power 902 and the rudder 903 operate based on the control signal.

  In such a configuration, as described above, since the attitude angle, position, and speed are calculated with high accuracy, various controls can be realized with high accuracy. For example, if it is automatic navigation control, the ship 900 can be automatically navigated by the optimal navigation route. In addition, if fixed point holding control is performed, fixed point holding can be performed with high accuracy.

  In the above description, an example in which a plurality of antennas are arranged with isotropy has been shown, but the following arrangement pattern may be used. 16, FIG. 17, and FIG. 18 are diagrams showing a derived arrangement pattern of a plurality of antennas.

  The antenna device 101 shown in FIG. 16 includes three antennas 100A, 100B, and 100C. The antenna 100A is arranged away from the antennas 100B and 100C in the bow direction. The antennas 100B and 100C are arranged along a direction orthogonal to the bow direction. The antenna 100A is arranged on a vertical bisector connecting the position of the antenna 100B and the position of the antenna 100C. The distance between the position of antenna 100B and the position of antenna 100C is shorter than the distance between the midpoint between the position of antenna 100B and the position of antenna 100C and the position of antenna 100A.

  By using such an antenna arrangement, the baseline vector composed of the antennas 100A and 100B and the baseline vector composed of the antennas 100C and 100A become a baseline vector that is long in the bow direction. Therefore, since a plurality of baseline vectors having a long bow direction component can be secured, the pitch angle θ and the yaw angle ψ can be calculated with high accuracy.

  The antenna device 102 shown in FIG. 17 includes four antennas 100A, 100B, 100C, and 100D. The antenna 100A and the antenna 100C are arranged along the bow direction. The antenna 100B and the antenna 100D are disposed along a direction orthogonal to the bow direction. The distance between the position of the antenna 100A and the position of the antenna 100C is significantly longer than the distance between the position of the antenna 100B and the position of the antenna 100D. The midpoint between the position of the antenna 100A and the position of the antenna 100C matches the midpoint of the position of the antenna 100B and the position of the antenna 100B. As described above, the antenna device 102 has a rhombus shape having a long diagonal line parallel to the bow direction and a short diagonal line perpendicular to the bow direction, and the antennas 100A, 100B, 100C, and 100D are arranged.

  By using such an antenna arrangement, the number of baseline vectors having a long bow direction component can be further increased. Thereby, the pitch angle θ and the yaw angle ψ can be calculated with higher accuracy.

  An antenna device 103 shown in FIG. 18 is obtained by adding antennas 100D and 100E to the antenna device 101 shown in FIG. The antennas 100D and 100E are arranged on a perpendicular bisector connecting the position of the antenna 100B and the position of the antenna 100C. The antennas 100D and 100E are disposed between the midpoint between the position of the antenna 100A and the position of the antenna 100C and the position of the antenna 100A. That is, the antennas 100A, 100D, and 100E are arranged at intervals along the bow direction.

  By using such an antenna arrangement, the number of baseline vectors having a long bow direction component can be further increased. Thereby, the pitch angle θ and the yaw angle ψ can be calculated with higher accuracy.

  Note that the antenna arrangements shown in FIGS. 16 and 18 may be plane-symmetrical with respect to a plane orthogonal to the heading direction.

  Further, the antenna arrangement pattern is not limited to these examples. When a specific posture angle component is to be calculated with high accuracy, the antenna arrangement pattern is long along the axial direction shared by two planes including the specific posture angle component. A plurality of antennas may be arranged so as to constitute a baseline vector having a vector component.

  In the above description, the example in which the pitch angle θ, the roll angle φ, and the yaw angle ψ, which are components of the posture angle, are calculated from the baseline vector has been shown. However, in the case of an integrated system in which an attitude angle calculation unit (or positioning unit) using a positioning signal and an IMU (Internal Measurement Unit) are integrated, the yaw angle may be calculated by the following method. The pitch angle θ and the roll angle φ are measured with an inertial sensor. The calculation unit calculates the yaw angle using the pitch angle θ and the roll angle φ measured by the inertial sensor and the baseline vector based on the positioning signal. Alternatively, only the pitch angle θ may be measured by the inertial sensor, and the roll angle φ and the yaw angle ψ may be sequentially calculated from the pitch angle θ and the baseline vector measured by the inertial sensor.

  In the above description, the distance between the antennas, that is, the relationship between the baseline length and the wavelength of the positioning signal is not specifically shown. However, if the shortest baseline length is equal to or less than a half wavelength of the positioning signal, The configuration works more effectively.

  Specifically, when the base line length is equal to or shorter than a half wavelength, the integer value bias can be easily determined, but the base line length is short, so the base line vector calculation accuracy is low. As a result, the accuracy of the calculated posture angle is lowered, and the accuracy as the posture angle detection sensor is insufficient.

  However, when the configuration and processing of the present invention are used, the posture angle is calculated using a plurality of baseline vectors, so that the accuracy of the posture angle can be improved regardless of the baseline length. Therefore, the attitude angle can be calculated with high accuracy even in an antenna arrangement in which the base line length is equal to or less than a half wavelength. Thus, since the base line length falls within the half wavelength of the positioning signal, the integer value bias can be easily determined, and a highly accurate attitude angle can be obtained at high speed. In addition, the distance between the antennas can be shortened, and the antenna device can be configured to be small.

10, 10A: State calculation devices 111A, 111B, 111C, 111D: Correlation processing units 112A, 112B, 112C, 112D: ADR calculation units 12, 12A: Calculation unit 120: Baseline vector calculation unit 121: Attitude angle calculation unit 122: Speed Calculation unit 123: Position calculation units 100, 101, 102, 103: Antenna devices 100A, 100B, 100C, 100D, 100E: Antenna 900: Ship 901: Control unit 902: Power 903: Rudder

Claims (23)

Three or more antennas which are arranged at different positions on the mobile body and each receive a positioning signal;
A correlation processing unit that calculates a carrier phase difference for each antenna based on a correlation process between the positioning signal and a replica signal of the positioning signal;
A carrier phase measurement value calculation unit that calculates a carrier phase measurement value that is an integrated value of the carrier phase difference; and
A baseline vector calculation unit that calculates a plurality of baseline vectors based on the carrier phase measurement values;
A posture angle calculation unit that calculates a yaw angle for each baseline vector and calculates a representative yaw angle based on the calculated plurality of yaw angles;
A state calculation device. The state calculation device according to claim 1,
The posture angle calculation unit
Calculating the yaw angle from a representative pitch angle and a representative roll angle for each baseline vector;
State calculation device. The state calculation device according to claim 2,
The posture angle calculation unit
Calculating the roll angle from the representative pitch angle for each baseline vector, and calculating the representative roll angle from the calculated plurality of roll angles;
State calculation device. The state calculation device according to claim 3,
The posture angle calculation unit
Taking two of the plurality of baseline vectors as a set, calculating a pitch angle for each set, and calculating the representative pitch angle from the calculated plurality of pitch angles;
State calculation device. The state calculation device according to any one of claims 1 to 4,
The three or more antennas are
Arranged such that at least one of the plurality of baseline vectors is parallel to a heading direction of the movable body,
State calculation device. The state calculation device according to claim 5,
The baseline vector parallel to the heading direction is a baseline vector having a short baseline length among the plurality of baseline vectors.
State calculation device. The state calculation device according to any one of claims 1 to 6,
The three or more antennas are
The three or more antennas are arranged on the moving body so that the distance from the center point of the arrangement position of each of the antennas to each antenna is the same
State calculation device. The state calculation device according to any one of claims 1 to 7,
The baseline length of the shortest baseline vector among the plurality of baseline vectors is equal to or less than a half wavelength of the positioning signal.
State calculation device. The state calculation device according to any one of claims 1 to 8,
A position calculation unit that calculates the coordinates of the specific position of the moving body using the result of the correlation processing for the plurality of positioning signals together with the posture angle,
The position calculation unit
When the coordinates of the specific position are calculated, the posture angle is corrected.
State calculation device. A state calculation device according to any one of claims 1 to 9,
A speed calculating unit that calculates the speed of the specific position of the moving body using the result of the correlation processing for the plurality of positioning signals together with the posture angle,
The speed calculation unit
When calculating the speed of the specific position, correction by the posture angle is performed.
State calculation device. A state calculation device according to any one of claims 1 to 10,
A control unit that performs movement control using the posture angle output by the state calculation device;
A moving object comprising: A receiving step of receiving three or more positioning signals at different positions on the moving body;
Carrier phase measurement value calculation that calculates a carrier phase difference for each of the positions based on correlation processing between the positioning signal and a replica signal of the positioning signal, and calculates a carrier phase measurement value that is an integrated value of the carrier phase difference Process,
A baseline vector calculating step of calculating a plurality of baseline vectors based on the carrier phase measurement values;
A posture angle calculating step of calculating a yaw angle for each baseline vector and calculating a representative yaw angle based on the calculated plurality of yaw angles;
A state calculation method. The state calculation method according to claim 12,
The posture angle calculation step includes:
Calculating the yaw angle from a representative pitch angle and a representative roll angle for each baseline vector;
State calculation method. The state calculation method according to claim 13,
The posture angle calculation step includes:
Calculating the roll angle from the representative pitch angle for each baseline vector, and calculating the representative roll angle from the calculated plurality of roll angles;
State calculation method. The state calculation method according to claim 14,
The posture angle calculation step includes:
Taking two of the plurality of baseline vectors as a set, calculating a pitch angle for each set, and calculating the representative pitch angle from the calculated plurality of pitch angles;
State calculation method. The state calculation method according to any one of claims 12 to 15,
A position calculation step of calculating coordinates of a specific position of the moving body using the result of the correlation processing for the plurality of positioning signals together with the posture angle,
The position calculating step includes
When the coordinates of the specific position are calculated, the posture angle is corrected.
State calculation method. The state calculation method according to any one of claims 12 to 16,
A speed calculating step of calculating a speed of a specific position of the moving body using the result of the correlation processing with respect to the plurality of positioning signals together with the posture angle,
The speed calculation step includes
When calculating the speed of the specific position, correction by the posture angle is performed.
State calculation method. A state calculation program for causing a computer to execute a process of calculating a navigation state of a moving object,
The computer
Based on correlation processing between three or more positioning signals received at different positions on the moving body and replica signals of the positioning signals, a carrier phase difference is calculated for each of the positions, and an integrated value of the carrier phase differences is calculated. A carrier phase measurement value calculation process for calculating a certain carrier phase measurement value;
Baseline vector calculation processing for calculating a plurality of baseline vectors from carrier phase measurement values for each position;
A posture angle calculation process for calculating a yaw angle for each baseline vector and calculating a representative yaw angle based on the calculated plurality of yaw angles;
A state calculation program that executes The state calculation program according to claim 18,
The computer
As the posture angle calculation process,
Calculating the yaw angle from a representative pitch angle and a representative roll angle for each baseline vector;
State calculation program. The state calculation program according to claim 19,
The computer
As the posture angle calculation process,
Calculating the roll angle from the representative pitch angle for each baseline vector, and calculating the representative roll angle from the calculated plurality of roll angles;
State calculation program. The state calculation program according to claim 20,
The computer
As the posture angle calculation process,
Taking two of the plurality of baseline vectors as a set, calculating a pitch angle for each set, and calculating the representative pitch angle from the calculated plurality of pitch angles;
State calculation program. A state calculation program according to any one of claims 18 to 21,
The computer
Using the result of the correlation process for the plurality of positioning signals together with the posture angle, further executing a position calculation process for calculating coordinates of a specific position of the moving body,
When the coordinates of the specific position are calculated by the position calculation process, the posture angle is corrected.
State calculation program. A state calculation program according to any one of claims 18 to 22,
The computer
Along with the attitude angle, further using a result of the correlation processing with respect to the plurality of positioning signals, further executing a speed calculation process for calculating a speed of a specific position of the moving body,
When calculating the speed of the specific position by the speed calculation process, the posture angle is corrected.
State calculation program.

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